CS3011-INTRODUCTION TO ROBOTICS
Kinematics of Serial Robots: Position Analysis
• Kinematics is a branch of physics and a subdivision of classical mechanics concerned
with the geometrically possible motion of a body or system of bodies without
consideration of the forces involved.
• Within kinematics, one studies position, velocity, acceleration (and even higher-order
derivatives of position) w.r.t. time
Representation of a Point in Space
A point P in space can be represented relative to a reference frame as:
A vector is described as P=3i+5j+2k. Express the vector in matrix form. If it were to
describe a direction as a unit vector
Example: A vector p is 5 units long and is in the direction of a unit vector q described as
follows. Express the vector in matrix form.
Example: A vector p is 5 units long and is in the direction of a unit vector q described as
follows. Express the vector in matrix form.
Representation of a Frame at the Origin of a Fixed-Reference Frame
• A frame is generally represented by three mutually orthogonal axes (such as x, y, and z).
• Since we may have more than one frame at any given time, we use axes x, y, and z to represent
the fixed Universe reference frame Fx,y,z
• And a set of axes n, o, and a to represent another
(moving) frame Fn,o,a relative to the Universe frame.
Representation of a Frame at the Origin of a Fixed-Reference Frame
Representation of a Frame Relative to a Fixed Reference Frame
Representation of a Pure Translation
• If a frame (that may also be representing an object) moves in space without any change in
its orientation, the transformation is a pure translation.
• The only thing that changes is the location of the origin of the frame relative to the reference frame, as shown in
Figure
A frame F has been moved 10 units along the y-axis and 5 units along the z-axis of the
reference frame. Find the new location of the frame.
Representation of a Pure Rotation about an Axis
A point p(2,3,4)T is attached to a rotating frame. The frame rotates 90º about the x-axis of the reference frame. Find the
coordinates of the point relative to the reference frame after the rotation, and verify the result graphically.
Representation of Combined Transformations
To see how combined transformations are handled, let’s assume that a frame Fnoa is subjected to
the following three successive transformations relative to the reference frame Fxyz
1. Rotation of a degrees about the x-axis,
2. Followed by a translation of [l1,l2,l3] (relative to the x-, y-, and z-axes respectively),
3. Followed by a rotation of b degrees about the y-axis
A point p(7,3,1)T is attached to a frame Fnoa and is subjected to the following transformations. Find the coordinates of the
point relative to the reference frame at the conclusion of transformations.
1. Rotation of 90 about the z-axis,
2. Followed by a rotation of 90 about the y-axis,
3. Followed by a translation of [4,-3,7].
Inverse of Transformation Matrices
Inverse of Transformation Matrices The location of the point where the
hole will be drilled can be related
to the reference frame U through
two independent paths:
1. One through the part,
2. one through the robot.
Therefore, the following equation
can be written:
Inverse of Transformation Matrices
Example
In a robotic setup, a camera is attached to the fifth link of a 6-DOF robot. It observes an object and determines
its frame relative to the camera’s frame. Using the following information, determine the necessary motion the
end effector must make to get to the object:
Example
In a robotic setup, a camera is attached to the fifth link of a 6-DOF robot. It observes an object and determines
its frame relative to the camera’s frame. Using the following information, determine the necessary motion the
end effector must make to get to the object:
Suppose an arm-mounted mobile robot X-Terrabot is moving in a room and
wants to pick up an object with body frame {e} with its end-effector with the
attached frame {c}:
A camera is fixed to the ceiling, and based on its measurements, the configuration of the
frames attached to the wheeled platform {b} and the object frame {e} relative to the
camera’s frame {d} are known:
In order to calculate how to
move the robot arm so as to
pick up the object, Find the
configuration of the object
relative to the robot hand?
HOME WORK
Suppose that a camera and a gripper are attached to the end-effector of the industrial arm.
The camera is used to observe the workpiece and position the end-effector in the right
position, and the gripper is used to grip the workpiece. The overall system can be depicted in
the figure below:
Four frames are attached to different
elements in the robot’s workspace, as
shown above. {a} is the frame coincident
with the space frame {s}, {b} is the gripper
frame, {c} is the camera frame, and {d} is
the workpiece frame.
Time for Discussions
Thank You!
